GoalUpdater

A custom control node, which updates the goal(s) pose(s). It subscribes to a topic in which it can receive (an) updated goal(s) pose(s) to use instead of the one(s) commanded in action. It is useful for dynamic object following tasks.

Parameters

goal_updater_topic

Type	Default
string	“goal_update”

Description: The topic to receive the updated goal pose

goals_updater_topic

Type	Default
string	“goals_update”

Description: The topic to receive the updated goals poses

Input Ports

input_goal

Type	Default
geometry_msgs/PoseStamped	N/A

Description: The original goal pose

input_goals

Type	Default
geometry_msgs/PoseStampedArray	N/A

Description: The original goals poses

output_goal

Type	Default
geometry_msgs/PoseStamped	N/A

Description: The resulting updated goal. If no goal received by subscription, it will be the input_goal

output_goals

Type	Default
geometry_msgs/PoseStampedArray	N/A

Description: The resulting updated goals. If no goals received by subscription, it will be the input_goals

Example

<GoalUpdater input_goal="{goal}" input_goals="{goals}" output_goal="{goal}" output_goals="{goals}">
  <!--Add tree components here--->
</GoalUpdater>